Motor Parametric Calculations for Robot Locomotion

Abstract

Motor selection is an important step in designing a mobile robot since it governs the payload capacity of the robot. In this paper, a method is presented for the calculation of motor parameters when the robot payload is known and the motor is to be selected. The article also deals with the case when a motor is available and its corresponding payload is to be calculated. A motor load profile with varying speeds is presented to plot its change in torque and mechanical power. This method is employed for the motor selection calculations of a heavyweight mobile robot using a MATLAB graphical user interface.